Related papers: Low Thrust Trajectory Design Using A Semi-Analytic…
The reachable set of controlled dynamical systems consist of the set of all possible reachable states from an initial condition, over a certain period of time under various control and operation constraints and exogenous disturbances. For…
Performing large step-ups is a challenging task for a humanoid robot. It requires the robot to perform motions at the limit of its reachable workspace while straining to move its body upon the obstacle. This paper presents a non-linear…
Trajectory optimization methods for motion planning attempt to generate trajectories that minimize a suitable objective function. Such methods efficiently find solutions even for high degree-of-freedom robots. However, a globally optimal…
This paper presents a technique for trajectory planning based on continuously parameterized high-level actions (motion primitives) of variable duration. This technique leverages deep reinforcement learning (Deep RL) to formulate a policy…
The low-rank approximation is a complexity reduction technique to approximate a tensor or a matrix with a reduced rank, which has been applied to the simulation of high dimensional problems to reduce the memory required and computational…
The vision of automated driving is to increase both road safety and efficiency, while offering passengers a convenient travel experience. This requires that autonomous systems correctly estimate the current traffic scene and its likely…
Unmanned aerial vehicles (UAVs) have been attracting significant attention because there is a high probability of line-of-sight links being obtained between them and terrestrial nodes in high-rise urban areas. In this work, we investigate…
The goal of the present paper is to make a numerical analysis of parametric optimization of low thrust orbital maneuver. An orbital maneuver occurs when it is necessary to modify the orbit a space vehicle to change its function or to…
Urban trajectories play a crucial role in modeling urban dynamics and supporting various smart city applications. However, privacy concerns restrict access to large-scale and high-quality trajectory datasets. Trajectory generation provides…
The resurgence of lunar operations requires advancements in cislunar navigation and Space Situational Awareness (SSA). Challenges associated to these tasks have created an interest in autonomous planning, navigation, and tracking…
Bayesian estimation with an explicit transitional prior is required for a tracking algorithm to be embedded in most multi-target tracking frameworks. This paper describes a novel approach capable of tracking maneuvering spacecraft with an…
This paper addresses the problem of finding multiple near-optimal, spatially-dissimilar paths that can be considered as alternatives in the decision making process, for finding optimal corridors in which to construct a new road. We further…
Efficient performance of a number of engineering systems is achieved through different modes of operation - yielding systems described as "hybrid", containing both real-valued and discrete decision variables. Prominent examples of such…
During the Mars ascent vehicle (MAV) launch missions, when encountering a thrust drop type of propulsion system fault problem, the general trajectory replanning methods relying on step-by-step judgments may fail to make timely decisions,…
Aerospace production volumes have increased over time and robotic solutions have been progressively introduced in the aeronautic assembly lines to achieve high-quality standards, high production rates, flexibility and cost reduction.…
Approximate dynamic programming has been investigated and used as a method to approximately solve optimal regulation problems. However, the extension of this technique to optimal tracking problems for continuous time nonlinear systems has…
With much research has been conducted into trajectory planning for quadrotors, planning with spatial and temporal optimal trajectories in real-time is still challenging. In this paper, we propose a framework for generating large-scale…
Gravity-Assisted maneuvers have been used as a technique to reduce fuel consumption in deep space missions for several decades now. It opened the doors of the exterior solar system. The literature shows those results, as well as new…
Take-off and landing are the periods of a flight where aircraft are most vulnerable to a ground based rocket attack by terrorists. While aircraft approach and depart from airports on pre-defined flight paths, there is a degree of…
Preliminary trajectory design is a global search problem that seeks multiple qualitatively different solutions to a trajectory optimization problem. Due to its high dimensionality and non-convexity, and the frequent adjustment of problem…